00001 00005 #include <blort/Recognizer3D/Definitions.hh> 00006 00007 using namespace P; 00008 00009 const int Def::DO_MAX_RANSAC_TRIALS = 200; //= 500; //= 1000; 00010 const int Def::DO_MATCHER = 2; //0 = use match second nearest match, 1=threshold, 2=gpu 00011 const float Def::DO_MIN_DESC_DIST = 8.; // descriptor distance for object detection 00012 const double Def::DO_RANSAC_ETA0 = 0.01; //failure probability 00013 const double Def::DO_RANSAC_INL_DIST = 2; //1.; 00014 const float Def::DO_CLUSTER_SIGMA_THR=0.2; // cluster threshold for codebook 00015 const double Def::DO_TIME_MEAN = 5.; 00016 const double Def::DISTANCE_RATIO = 1.; // least squares is only accepted if pose does not change very much 00017